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<pre class="code">
<span class="srcline"><span class="lineno"><a href="23,1" id="srcline1"> 1</a></span><span class="line"><span class="keyword">function</span> <span class="var type1" id="S2T1U3">fh</span>=fhan(<span class="var type1" id="S3T1U6">x1</span> ,<span class="var type1" id="S4T1U7">x2</span> ,<span class="var type1" id="S5T1U8">r</span> ,<span class="var type1" id="S6T1U9">h</span>)</span></span>
<span class="srcline"><span class="lineno"><a href="23,2" id="srcline2"> 2</a></span><span class="line"><span class="comment">%% 棒棒法  bang_bang</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,3" id="srcline3"> 3</a></span><span class="line"><span class="comment">%x1(k+1)=x1(k)+h*x2;</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,4" id="srcline4"> 4</a></span><span class="line"><span class="comment">%x2(k+1)=x2(k)-r*u</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,5" id="srcline5"> 5</a></span><span class="line"><span class="comment">%%</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,6" id="srcline6"> 6</a></span><span class="line"><span class="comment">% d=r*h^2;</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,7" id="srcline7"> 7</a></span><span class="line"><span class="comment">% a0==h*x2;</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,8" id="srcline8"> 8</a></span><span class="line"><span class="comment">% y=x1+a0;</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,9" id="srcline9"> 9</a></span><span class="line"><span class="comment">% a1=sqrt(d*(d+8*abs(y)));</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,10" id="srcline10">10</a></span><span class="line"><span class="comment">% a2=a0+sign(y)(a1-d)/2;</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,11" id="srcline11">11</a></span><span class="line"><span class="comment">% Sy=(sign(y+d)-sign(y-d))/2;fsg</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,12" id="srcline12">12</a></span><span class="line"><span class="comment">% a=(a0+y-a2)*Sy+a2;</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,13" id="srcline13">13</a></span><span class="line"><span class="comment">% Sa=(sign(a+d)-sign(a-d))/2;</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,14" id="srcline14">14</a></span><span class="line"><span class="comment">% fhan=-r(a/d-sign(a))*Sa-r*sign(a);</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,15" id="srcline15">15</a></span><span class="line"><span class="comment">%</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,16" id="srcline16">16</a></span><span class="line"><span class="comment">%               离散状态</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,17" id="srcline17">17</a></span><span class="line"><span class="comment">% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,18" id="srcline18">18</a></span><span class="line"><span class="comment">% fh=fhan(x1(k)-v(k),x2(k),r,h);</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,19" id="srcline19">19</a></span><span class="line"><span class="comment">% x1(k+1)=x1(k)+h*x2(k);</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,20" id="srcline20">20</a></span><span class="line"><span class="comment">% x2(k+1)=x2(k)+h*fh;</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,21" id="srcline21">21</a></span><span class="line"><span class="comment">%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,22" id="srcline22">22</a></span><span class="line"><span class="comment">%%</span></span></span>
<span class="srcline"><span class="lineno"><a href="23,23" id="srcline23">23</a></span><span class="line"><span class="mxinfo" id="T1:U6"><span class="var type1" id="S7T1U12">d</span>=<span class="mxinfo" id="T1:U8"><span class="var type1" id="S5T1U14">r</span>*<span class="mxinfo" id="T1:U10"><span class="var type1" id="S6T1U16">h</span>^2</span></span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,24" id="srcline24">24</a></span><span class="line"><span class="mxinfo" id="T1:U12"><span class="var type1" id="S8T1U20">a0</span>=<span class="mxinfo" id="T1:U14"><span class="var type1" id="S6T1U22">h</span>*<span class="var type1" id="S4T1U23">x2</span></span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,25" id="srcline25">25</a></span><span class="line"><span class="mxinfo" id="T1:U17"><span class="var type1" id="S9T1U26">y</span>=<span class="mxinfo" id="T1:U19"><span class="var type1" id="S3T1U28">x1</span>+<span class="var type1" id="S8T1U29">a0</span></span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,26" id="srcline26">26</a></span><span class="line"><span class="mxinfo" id="T1:U22"><span class="var type1" id="S10T1U32">a1</span>=<span class="mxinfo" id="T1:U24">sqrt(<span class="mxinfo" id="T1:U25"><span class="var type1" id="S7T1U36">d</span>*(<span class="mxinfo" id="T1:U27"><span class="var type1" id="S7T1U39">d</span>+<span class="mxinfo" id="T1:U29">8*<span class="mxinfo" id="T1:U30">abs(<span class="var type1" id="S9T1U44">y</span>)</span></span></span>)</span>)</span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,27" id="srcline27">27</a></span><span class="line"><span class="mxinfo" id="T1:U32"><span class="var type1" id="S13T1U47">a2</span>=<span class="mxinfo" id="T1:U34"><span class="var type1" id="S8T1U49">a0</span>+<span class="mxinfo" id="T1:U36"><span class="mxinfo" id="T1:U37"><span class="mxinfo" id="T1:U38">sign(<span class="var type1" id="S9T1U54">y</span>)</span>*(<span class="mxinfo" id="T1:U40"><span class="var type1" id="S10T1U57">a1</span>-<span class="var type1" id="S7T1U58">d</span></span>)</span>/<span class="mxinfo" id="T3:U43">2</span></span></span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,28" id="srcline28">28</a></span><span class="line"></span></span>
<span class="srcline"><span class="lineno"><a href="23,29" id="srcline29">29</a></span><span class="line"><span class="mxinfo" id="T1:U44"><span class="var type1" id="S15T1U62">Sy</span>=<span class="mxinfo" id="T1:U46">(<span class="mxinfo" id="T1:U47"><span class="mxinfo" id="T1:U48">sign(<span class="mxinfo" id="T1:U49"><span class="var type1" id="S9T1U69">y</span>+<span class="var type1" id="S7T1U70">d</span></span>)</span>-<span class="mxinfo" id="T1:U52">sign(<span class="mxinfo" id="T1:U53"><span class="var type1" id="S9T1U74">y</span>-<span class="var type1" id="S7T1U75">d</span></span>)</span></span>)/<span class="mxinfo" id="T3:U56">2</span></span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,30" id="srcline30">30</a></span><span class="line"></span></span>
<span class="srcline"><span class="lineno"><a href="23,31" id="srcline31">31</a></span><span class="line"><span class="mxinfo" id="T1:U57"><span class="var type1" id="S16T1U79">a</span>=<span class="mxinfo" id="T1:U59"><span class="mxinfo" id="T1:U60">(<span class="mxinfo" id="T1:U61"><span class="mxinfo" id="T1:U62"><span class="var type1" id="S8T1U85">a0</span>+<span class="var type1" id="S9T1U86">y</span></span>-<span class="var type1" id="S13T1U87">a2</span></span>)*<span class="var type1" id="S15T1U88">Sy</span></span>+<span class="var type1" id="S13T1U89">a2</span></span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,32" id="srcline32">32</a></span><span class="line"><span class="mxinfo" id="T1:U68"><span class="var type1" id="S17T1U92">Sa</span>=<span class="mxinfo" id="T1:U70">(<span class="mxinfo" id="T1:U71"><span class="mxinfo" id="T1:U72">sign(<span class="mxinfo" id="T1:U73"><span class="var type1" id="S16T1U99">a</span>+<span class="var type1" id="S7T1U100">d</span></span>)</span>-<span class="mxinfo" id="T1:U76">sign(<span class="mxinfo" id="T1:U77"><span class="var type1" id="S16T1U104">a</span>-<span class="var type1" id="S7T1U105">d</span></span>)</span></span>)/<span class="mxinfo" id="T3:U80">2</span></span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,33" id="srcline33">33</a></span><span class="line"><span class="mxinfo" id="T1:U81"><span class="var type1" id="S2T1U109">fh</span>=<span class="mxinfo" id="T1:U83"><span class="mxinfo" id="T1:U84"><span class="mxinfo" id="T1:U85"><span class="mxinfo" id="T1:U86">-<span class="var type1" id="S5T1U114">r</span></span>*(<span class="mxinfo" id="T1:U88"><span class="mxinfo" id="T1:U89"><span class="var type1" id="S16T1U118">a</span>/<span class="var type1" id="S7T1U119">d</span></span>-<span class="mxinfo" id="T1:U92">sign(<span class="var type1" id="S16T1U122">a</span>)</span></span>)</span>*<span class="var type1" id="S17T1U123">Sa</span></span>-<span class="mxinfo" id="T1:U95"><span class="var type1" id="S5T1U125">r</span>*<span class="mxinfo" id="T1:U97">sign(<span class="var type1" id="S16T1U128">a</span>)</span></span></span></span>;</span></span>
<span class="srcline"><span class="lineno"><a href="23,34" id="srcline34">34</a></span><span class="line"><span class="keyword">end</span></span></span>
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